CN115810293A - Linkage control method, system and medium for multiple unmanned aerial vehicles - Google Patents
Linkage control method, system and medium for multiple unmanned aerial vehicles Download PDFInfo
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Abstract
The invention discloses a linkage control method, a system and a medium for multiple unmanned aerial vehicles, wherein the method comprises the following steps: acquiring flight task information of the unmanned aircraft; obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft; numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points; matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point; and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and the preset flight rules. According to the unmanned aerial vehicle, the flight mission points and the unmanned aerial vehicles are matched, and the unmanned aerial vehicles are associated with each other, so that linkage control among the unmanned aerial vehicles is facilitated.
Description
Technical Field
The present application relates to the field of flight control of unmanned aircraft, and more particularly, to a method, a system, and a medium for coordinated control of multiple unmanned aircraft.
Background
With the development of science and technology, unmanned aircrafts are more and more widely applied, including the fields of information transmission, aerial photography measurement and the like. At present, the linkage control of a plurality of unmanned aircraft is mainly realized by a preset program, and when the unmanned aircraft has errors or faults in the flying process, the adjustment is difficult.
Thus, the prior art is deficient and needs improvement.
Disclosure of Invention
In view of the above-described problems, it is an object of the present invention to provide a method, a system, and a medium for linkage control of a plurality of unmanned aerial vehicles, which can more effectively improve the linkage control between the plurality of unmanned aerial vehicles.
The invention provides a linkage control method for a plurality of unmanned aircrafts, which comprises the following steps:
acquiring flight task information of the unmanned aircraft;
obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft;
numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point;
and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and preset flight rules.
In this scheme, the preset numbering rule specifically includes:
setting one task point in flight task points of the unmanned aerial vehicle as a reference point, and setting the serial number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
numbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
In this scheme, still include:
obtaining the information that the distance values of the reference point and other flight task points have the same distance value;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the azimuth information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
In this scheme, predetermine the flight rule, specifically do:
numbering the unmanned aircraft in sequence of f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles;
correlating the unmanned aerial vehicles;
the control right of the unmanned aircraft with the front number is superior to that of the unmanned aircraft with the back number;
and performing flight control on other unmanned aircrafts based on the unmanned aircraft with the most serial number.
In this scheme, still include:
acquiring fault information of the unmanned aircraft with the most serial number;
sending the information of the unmanned aircraft with the second serial number to a preset control end to replace the unmanned aircraft with the fault;
and sending the information of the unmanned aircraft with the fault to a preparation control end for individual control.
In this scheme, still include:
acquiring matching mode information of the unmanned aircraft and a flight task point;
obtaining the matching condition of the unmanned aerial vehicle and the flight task point according to the matching mode of the unmanned aerial vehicle and the flight task point;
and performing corresponding flight control measures on the unmanned aircraft or the flight mission points according to the matching condition of the unmanned aircraft and the flight mission points.
A second aspect of the present invention provides a system for coordinated control of a plurality of unmanned aerial vehicles, including a memory in which a program for a coordinated control method of the plurality of unmanned aerial vehicles is stored, and a processor, wherein when executed by the processor, the program for the coordinated control method of the plurality of unmanned aerial vehicles implements the steps of:
acquiring flight task information of the unmanned aerial vehicle;
obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft;
numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point;
and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and the preset flight rules.
In this scheme, the preset numbering rule specifically includes:
setting one task point in flight task points of the unmanned aerial vehicle as a reference point, and setting the serial number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
numbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
In this scheme, still include:
obtaining the information that the distance values of the reference point and other flight task points have the same distance value;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the azimuth information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
In this scheme, predetermine the flight rule, specifically do:
numbering the unmanned aircraft, wherein the numbering sequence is f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles;
correlating the unmanned aerial vehicles;
the control right of the unmanned aircraft with the front number is superior to that of the unmanned aircraft with the back number;
and performing flight control on other unmanned aircrafts based on the unmanned aircraft with the most number.
In this scheme, still include:
acquiring fault information of the unmanned aircraft with the most serial number;
sending the information of the unmanned aircraft with the second serial number to a preset control end to replace the unmanned aircraft with the fault;
and sending the information of the unmanned aircraft with the fault to a preparation control end for individual control.
In this scheme, still include:
acquiring matching mode information of the unmanned aircraft and a flight task point;
obtaining the matching condition of the unmanned aerial vehicle and the flight task point according to the matching mode of the unmanned aerial vehicle and the flight task point;
and performing corresponding flight control measures on the unmanned aircraft or the flight mission point according to the matching condition of the unmanned aircraft and the flight mission point.
A third aspect of the present invention provides a computer medium having stored therein a program for a method of coordinated control of a plurality of unmanned aerial vehicles, the program for a method of coordinated control of a plurality of unmanned aerial vehicles realizing the method of coordinated control of a plurality of unmanned aerial vehicles according to any one of the above when executed by a processor.
According to the linkage control method, the system and the medium for the multiple unmanned aerial vehicles, disclosed by the invention, the flight mission points are matched with the unmanned aerial vehicles, and the unmanned aerial vehicles are associated, so that the linkage control of the unmanned aerial vehicles is facilitated.
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FIG. 1 illustrates a flow chart of a method for coordinated control of a plurality of unmanned aerial vehicles in accordance with the present invention;
FIG. 2 illustrates a diagram of one correlation step between an unmanned aerial vehicle and a flight mission;
fig. 3 shows a block diagram of a system for a coordinated control method of a plurality of unmanned aerial vehicles according to the invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced otherwise than as specifically described herein and, therefore, the scope of the present invention is not limited by the specific embodiments disclosed below.
Fig. 1 shows a flow chart of a method for coordinated control of a plurality of unmanned aerial vehicles according to the invention.
As shown in fig. 1, the present invention discloses a method for linkage control of a plurality of unmanned aerial vehicles, comprising:
s102, acquiring flight task information of the unmanned aircraft;
s104, obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft;
s106, numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
s108, matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the unmanned aerial vehicle information corresponding to the flight task point;
and S110, sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coding information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and the preset flight rules.
It should be noted that the flight mission of the unmanned aerial vehicle is split to obtain a plurality of flight mission points, such as: the aerial photography task of the unmanned aerial vehicle can be divided into a plurality of aerial photography segments, and one aerial photography task is divided into one flight task point. The matching between the unmanned aircraft and the flight mission points is divided into: one-to-one, one-to-many, many-to-one and many-to-many, four matching cases. Such as: matching a flight mission point for an unmanned aircraft in a one-to-one way representation; one-to-many represents that one unmanned aircraft matches multiple flight mission points; many-to-one indicates that a plurality of unmanned aircraft match a flight mission point; many-to-many means that multiple unmanned aircraft match multiple flight mission points. The unmanned aircraft is associated, the number of the unmanned aircraft with the control right is sent to a preset control end, and linkage control over other unmanned aircraft is achieved by controlling the unmanned aircraft with the control right.
According to the embodiment of the present invention, the preset numbering rule specifically includes:
setting one of flight task points of the unmanned aircraft as a reference point, and setting the number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
the distance value is measuredNumbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
In addition, one of the flight mission points is set as a reference point, and the number of the reference point is set as d 1 And numbering the other flight mission points according to the distance between the reference point and the other flight mission points. Wherein, the shorter the distance between the reference point and other flight mission points, the more priority the reference point has to be numbered, and the order of the numbering is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
According to the embodiment of the invention, the method further comprises the following steps:
obtaining the information that the distance values of the reference point and other flight task points have the same distance value;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the position information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
It should be noted that, when the distance values of the reference point and other flight mission points have the same distance value, numbering is performed through a preset azimuth sequence, taking the right front of the reference point as the first, and sequentially taking the front, the back, the left and the right, and the smaller the offset angle is, the priority is given to the numbering, for example: the distance values of the existing task points a, b and c and the reference point are equal, the task point a is right in front of the reference point, the task point b is shifted by 15 degrees on the left side of the reference point, and the task point c is shifted by 15 degrees on the right side of the reference point, so that the numbering sequence of the task points a, b and c is as follows: task point a, task point c, and task point b.
According to the embodiment of the invention, the preset flight rules specifically include:
numbering the unmanned aircraft, wherein the numbering sequence is f 1 ，f 2 ，…，f n Where n represents the number of unmanned aircraft；
Correlating the unmanned aerial vehicles;
the control right of the unmanned aircraft with the front number is superior to that of the unmanned aircraft with the back number;
and performing flight control on other unmanned aircrafts based on the unmanned aircraft with the most number.
The unmanned aerial vehicle is numbered in the order of f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles; the pilotless aircraft with the front number has control right for the pilotless aircraft with the back number, such as: number f 1 Is numbered f 2 Has control authority. The control right is to control the flight operations such as the flight altitude, the speed and the direction of the corresponding unmanned aircraft, for example: by the number f 1 Is numbered f 2 The unmanned aerial vehicle (2) performs the flight speed control, and if the flight speed is set to be decreased, the number is f 2 Has a flight speed lower than the number f 1 The unmanned aerial vehicle of (1).
According to the embodiment of the invention, the method further comprises the following steps:
acquiring fault information of the unmanned aircraft with the most serial number;
sending the information of the unmanned aircraft with the second serial number to a preset control end to replace the unmanned aircraft with the fault;
and sending the information of the unmanned aircraft with the fault to a preparation control end for individual control.
Note that if the existing number of the unmanned aircraft is f 1 ，f 2 ，…，f n Then the number corresponding to the most forward unmanned aircraft is f 1 When the number is f 1 When the unmanned aerial vehicle (2) fails, the number is f 2 The unmanned aircraft information is sent to a preset control end to replace the serial number f 1 Unmanned drivingAnd driving the aircraft to control the whole unmanned aircraft formation.
According to the embodiment of the invention, the method further comprises the following steps:
acquiring matching mode information of the unmanned aircraft and a flight task point;
obtaining the matching condition of the unmanned aerial vehicle and the flight task point according to the matching mode of the unmanned aerial vehicle and the flight task point;
and performing corresponding flight control measures on the unmanned aircraft or the flight mission points according to the matching condition of the unmanned aircraft and the flight mission points.
It should be noted that the matching method between the unmanned aerial vehicle and the flight mission point includes: one-to-one, one-to-many, many-to-one and many-to-many, four matching cases. And obtaining the matching condition of the unmanned aircraft and the flight task point according to the matching mode of the unmanned aircraft and the flight task point. Wherein: when the number of the flight mission points and the number of the unmanned aircrafts are exactly matched completely and no unmanned aircrafts remain, all the unmanned aircrafts are exactly controlled to complete corresponding flight missions at one time; when the number of the unmanned aircraft remains, setting the redundant unmanned aircraft as a standby unmanned aircraft; and when the number of the unmanned aircrafts is not enough, matching the unmanned aircrafts which finish the tasks firstly with the task points of the second flight.
According to the embodiment of the invention, the method further comprises the following steps:
the method comprises the steps that flight information of the unmanned aircraft is sent to a preset visual window to be displayed;
acquiring flight information of the unmanned aircraft;
obtaining correspondingly adjusted information of the unmanned aircraft according to the adjusted flight information of the unmanned aircraft;
and sending the information of the unmanned aircraft correspondingly adjusted to a preset adjusting module for adjustment.
It should be noted that the unmanned aerial vehicle displays in real time through the preset visual window, when the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle needing to be adjusted is extracted from the unmanned aerial vehicle group, and information of the unmanned aerial vehicle needing to be adjusted is sent to the preset adjusting module to be adjusted.
According to the embodiment of the present invention, the preset adjusting module specifically includes:
separating the unmanned aircraft to be adjusted from the unmanned aircraft group;
adjusting the unmanned aircrafts to be adjusted individually or in groups again;
and the adjusted unmanned aircraft is re-programmed into the unmanned aircraft group to carry out overall flight control.
It should be noted that the preset adjusting module is divided into two processing units, one of which is to recombine the unmanned aircraft to be adjusted again, for example: the unmanned aircraft needing to be adjusted are numbered as a, b and c, wherein the unmanned aircraft numbered as a is adjusted to be consistent with the unmanned aircraft numbered as c, the unmanned aircraft numbered as a is recombined, and the purpose of simultaneously controlling two unmanned aircraft is achieved by controlling one unmanned aircraft. And secondly, the adjusted unmanned aerial vehicle is re-programmed into the previous unmanned aerial vehicle group to carry out overall flight control.
Fig. 2 shows a diagram of one correlation step between an unmanned aerial vehicle and a flight mission.
As shown in the figure, the unmanned aerial vehicle and the flight mission are subjected to one-to-one matching association step chart, the flight mission is split to obtain a plurality of flight mission points, and d is set in sequence 1 ，d 2 ，…，d m Wherein m represents the number of flight mission points, and the unmanned aircraft is numbered as f 1 ，f 2 ，…，f n Where n represents the number of unmanned aircraft, numbered d 1 Has a matching number of f 1 Unmanned aerial vehicle of (1), number d 2 Has a matching number of f 2 The unmanned aircraft, and so on.
Fig. 3 shows a block diagram of a system for a coordinated control method of a plurality of unmanned aerial vehicles according to the present invention.
As shown in fig. 3, a second aspect of the present invention provides a coordinated control system 3 for a plurality of unmanned aerial vehicles, including a memory 31 and a processor 32, wherein the memory stores a program of a coordinated control method for a plurality of unmanned aerial vehicles, and the processor executes the program of the coordinated control method for a plurality of unmanned aerial vehicles to realize the following steps:
acquiring flight task information of the unmanned aircraft;
obtaining flight task point information of the unmanned aerial vehicle according to the flight task of the unmanned aerial vehicle;
numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
matching the serial number of the flight task point with the preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point;
and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and preset flight rules.
It should be noted that the flight mission of the unmanned aerial vehicle is split to obtain a plurality of flight mission points, such as: the aerial photography task of the unmanned aerial vehicle can be divided into a plurality of aerial photography segments, and one aerial photography task is divided into one flight task point. The matching between the unmanned aircraft and the flight mission points is divided into: one-to-one, one-to-many, many-to-one and many-to-many, four matching cases. Such as: matching a flight mission point for an unmanned aircraft in a one-to-one way representation; one-to-many represents that one unmanned aircraft matches multiple flight mission points; many-to-one indicates that a plurality of unmanned aircraft match a flight mission point; many-to-many means that multiple unmanned aircraft match multiple flight mission points. The unmanned aircraft is associated, the number of the unmanned aircraft with the control right is sent to a preset control end, and linkage control over other unmanned aircraft is achieved by controlling the unmanned aircraft with the control right.
According to the embodiment of the present invention, the preset numbering rule specifically includes:
setting one task point in flight task points of the unmanned aerial vehicle as a reference point, and setting the serial number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
numbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
In addition, one of the flight mission points is set as a reference point, and the number of the reference point is set as d 1 And numbering the other flight mission points according to the distance between the reference point and the other flight mission points. Wherein, the shorter the distance between the reference point and other flight mission points, the more has the priority of numbering, and the sequence of numbering is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
According to the embodiment of the invention, the method further comprises the following steps:
obtaining the information of the same distance value existing in the distance values of the reference point and other flight task points;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the azimuth information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
It should be noted that, when the distance values of the reference point and other flight mission points have the same distance value, the reference point and other flight mission points are numbered in sequence by presetting the azimuth, and the reference point is first right ahead, and then the reference point is sequentially front-back, left-right, and the smaller the deviation angle is, for example: the distance values of the existing task points a, b and c and the reference point are equal, the task point a is right in front of the reference point, the task point b is deviated 15 degrees on the left of the reference point, and the task point c is deviated 15 degrees on the right of the reference point, so that the numbering sequence of the task points a, b and c is as follows: task point a, task point c, and task point b.
According to the embodiment of the invention, the preset flight rules specifically include:
numbering the unmanned aircraft, wherein the numbering sequence is f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles;
correlating the unmanned aerial vehicles;
the control right of the unmanned aircraft with the front serial number is superior to that of the unmanned aircraft with the back serial number;
and performing flight control on other unmanned aircrafts based on the unmanned aircraft with the most number.
The unmanned aerial vehicle is numbered in the order of f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles; wherein the unmanned aircraft with the front number has control over the unmanned aircraft with the back number, such as: number f 1 Is numbered f 2 Has control authority. The control right is to control the flight operations such as the flight altitude, the speed and the direction of the corresponding unmanned aircraft, for example: by the number f 1 Is numbered f 2 The unmanned aerial vehicle (2) performs the flight speed control, and if the flight speed is set to be decreased, the number is f 2 Has a flight speed lower than the number f 1 The unmanned aerial vehicle of (1).
According to the embodiment of the invention, the method further comprises the following steps:
acquiring fault information of the unmanned aircraft with the most serial number;
sending the information of the unmanned aircraft with the second serial number to a preset control end to replace the unmanned aircraft with the fault;
and sending the information of the unmanned aircraft with the fault to a preparation control end for individual control.
Note that, if the existing number of the unmanned aircraft is f 1 ，f 2 ，…，f n Then the number corresponding to the most forward unmanned aircraft is f 1 When the number is f 1 When the unmanned aerial vehicle (G) fails, the number is f 2 The unmanned aircraft information is sent to a preset control end to replace the serial number f 1 The unmanned aerial vehicle of (a) controls the entire formation of the unmanned aerial vehicle.
According to the embodiment of the invention, the method further comprises the following steps:
acquiring matching mode information of the unmanned aircraft and a flight task point;
obtaining the matching condition of the unmanned aerial vehicle and the flight task point according to the matching mode of the unmanned aerial vehicle and the flight task point;
and performing corresponding flight control measures on the unmanned aircraft or the flight mission points according to the matching condition of the unmanned aircraft and the flight mission points.
It should be noted that the matching method between the unmanned aerial vehicle and the flight mission point includes: one-to-one, one-to-many, many-to-one and many-to-many, four matching cases. And obtaining the matching condition of the unmanned aircraft and the flight task point according to the matching mode of the unmanned aircraft and the flight task point. Wherein: when the number of the flight mission points and the number of the unmanned aircrafts are just completely matched and no surplus exists, just controlling all the unmanned aircrafts to complete corresponding flight missions at one time; when the number of the unmanned aircraft remains, setting the redundant unmanned aircraft as a standby unmanned aircraft; and when the number of the unmanned aircraft is not enough, performing second-time flight task point matching on the unmanned aircraft which completes the task firstly.
According to the embodiment of the invention, the method further comprises the following steps:
the method comprises the steps that flight information of the unmanned aircraft is sent to a preset visual window to be displayed;
acquiring flight information of the unmanned aircraft;
obtaining correspondingly adjusted unmanned aircraft information according to the adjusted unmanned aircraft flight information;
and sending the information of the correspondingly adjusted unmanned aircraft to a preset adjusting module for adjustment.
It should be noted that the unmanned aerial vehicle displays in real time through the preset visual window, when the unmanned aerial vehicle needs to be adjusted, the unmanned aerial vehicle needing to be adjusted is extracted from the unmanned aerial vehicle group, and information of the unmanned aerial vehicle needing to be adjusted is sent to the preset adjusting module to be adjusted.
According to the embodiment of the present invention, the preset adjusting module specifically includes:
separating the unmanned aircraft to be adjusted from the unmanned aircraft group;
adjusting the unmanned aircrafts needing to be adjusted individually or in groups again;
and the adjusted unmanned aircraft is re-programmed into the unmanned aircraft group to carry out overall flight control.
It should be noted that the preset adjusting module is divided into two processing units, one of which is to recombine the unmanned aircraft to be adjusted again, for example: the unmanned aircraft needing to be adjusted are numbered as a, b and c, wherein the unmanned aircraft numbered as a is adjusted to be consistent with the unmanned aircraft numbered as c, the unmanned aircraft numbered as a is recombined, and the purpose of simultaneously controlling two unmanned aircraft is achieved by controlling one unmanned aircraft. And secondly, the adjusted unmanned aerial vehicle is re-programmed into the previous unmanned aerial vehicle group to carry out overall flight control.
A third aspect of the present invention provides a computer medium having stored therein a program for a method of coordinated control of a plurality of unmanned aerial vehicles, the program for a method of coordinated control of a plurality of unmanned aerial vehicles implementing the method of coordinated control of a plurality of unmanned aerial vehicles as defined in any one of the above when executed by a processor.
The invention discloses a linkage control method, a system and a medium for multiple unmanned aerial vehicles, wherein the method comprises the following steps: acquiring flight task information of the unmanned aircraft; obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft; numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points; matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point; and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and preset flight rules. According to the unmanned aerial vehicle, the flight mission points and the unmanned aerial vehicles are matched, and the unmanned aerial vehicles are associated with each other, so that linkage control among the unmanned aerial vehicles is facilitated.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only one logical function division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units; can be located in one place or distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for realizing the method embodiments can be completed by hardware related to program instructions, the program can be stored in a computer readable storage medium, and the program executes the steps comprising the method embodiments when executed; and the aforementioned storage medium includes: a mobile storage device, a Read-only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Alternatively, the integrated unit of the present invention may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present invention or portions thereof contributing to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media capable of storing program code.
Claims (10)
1. A coordinated control method for a plurality of unmanned aerial vehicles is characterized by comprising the following steps:
acquiring flight task information of the unmanned aircraft;
obtaining flight task point information of the unmanned aircraft according to the flight task of the unmanned aircraft;
numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
matching the serial number of the flight task point with the preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point;
and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and preset flight rules.
2. The method for linkage control of multiple unmanned aerial vehicles according to claim 1, wherein the preset numbering rule specifically comprises:
setting one of flight task points of the unmanned aircraft as a reference point, and setting the number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
numbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
3. The method of claim 2, further comprising:
obtaining the information of the same distance value existing in the distance values of the reference point and other flight task points;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the azimuth information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
4. The method for linkage control of multiple unmanned aerial vehicles according to claim 1, wherein the preset flight rules specifically include:
numbering the unmanned aircraft in sequence of f 1 ，f 2 ，…，f n Wherein n represents the number of unmanned aerial vehicles;
correlating the unmanned aerial vehicles;
the control right of the unmanned aircraft with the front serial number is superior to that of the unmanned aircraft with the back serial number;
and performing flight control on other unmanned aircrafts based on the unmanned aircraft with the most number.
5. The method of claim 4 for coordinated control of a plurality of unmanned aerial vehicles, further comprising:
acquiring fault information of the unmanned aircraft with the most serial number;
sending the information of the unmanned aircraft with the second serial number to a preset control end to replace the unmanned aircraft with the fault;
and sending the information of the unmanned aircraft with the fault to a preparation control end for individual control.
6. The method of claim 1 for coordinated control of a plurality of unmanned aerial vehicles, further comprising:
acquiring matching mode information of the unmanned aircraft and a flight task point;
obtaining the matching condition of the unmanned aircraft and the flight task point according to the matching mode of the unmanned aircraft and the flight task point;
and performing corresponding flight control measures on the unmanned aircraft or the flight mission point according to the matching condition of the unmanned aircraft and the flight mission point.
7. A system for coordinated control of a plurality of unmanned aerial vehicles, comprising a memory and a processor, wherein the memory stores a program for a method for coordinated control of the plurality of unmanned aerial vehicles, and wherein the processor executes the program for the method for coordinated control of the plurality of unmanned aerial vehicles to perform the steps of:
acquiring flight task information of the unmanned aircraft;
obtaining flight task point information of the unmanned aerial vehicle according to the flight task of the unmanned aerial vehicle;
numbering the flight task points of the unmanned aerial vehicle according to a preset numbering rule to obtain the numbering information of the flight task points;
matching the serial number of the flight task point with a preset serial number of the unmanned aerial vehicle to obtain the information of the unmanned aerial vehicle corresponding to the flight task point;
and sending the flight task points to the corresponding unmanned aerial vehicle for storage according to the coded information, and executing the task by the unmanned aerial vehicle according to the corresponding flight task points and preset flight rules.
8. The coordinated control system of a plurality of unmanned aerial vehicles according to claim 7, wherein the preset numbering rule specifically is:
setting one of flight task points of the unmanned aircraft as a reference point, and setting the number as d 1 ；
Connecting the reference point with other flight task points to obtain distance values between the reference point and the other flight task points;
numbering the flight task points according to the sequence of the distances from small to large, wherein the numbering sequence is d 2 ，d 3 ，…，d m Where m represents the total number of mission points in flight.
9. The coordinated control system of a plurality of unmanned aerial vehicles of claim 8, further comprising:
obtaining the information of the same distance value existing in the distance values of the reference point and other flight task points;
extracting flight task point information with the same distance value;
according to the flight task points with the same distance value and the reference point information, obtaining the position information of the flight task points with the same distance value at the reference point;
and determining the serial numbers of the flight mission points with the same distance value according to the sequence of the preset directions.
10. A computer medium, wherein a program of a method of coordinated control of a plurality of unmanned aerial vehicles is stored in the computer medium, and when the program of the method of coordinated control of a plurality of unmanned aerial vehicles is executed by a processor, the steps of the method of coordinated control of a plurality of unmanned aerial vehicles according to any one of claims 1 to 6 are implemented.
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